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In an effort to improve sailor safety during underway replenishment on the open sea, a robotic refueling system has been developed to autonomously refuel unmanned surface vehicles (USVs). The Rapid Autonomous Fuel Transfer (RAFT) project has demonstrated a methodology that could be used on the open water to autonomously refuel Navy vessels at significant sea states. The prototype refueling system...
In this paper, we present a new forward kinematic model for a novel class of long and thin continuum robots for operation in spatial workspace. Such robots are well suited for navigation through unstructured environments with superior reach using their flexible and thin profile, especially for inspection applications. This cable-like continuum robot design [1] has a concentric backbone arrangement...
Soft limb locomotion is a relatively new and challenging research field. However, soft limbs can not yet transition to practical application due to difficulties associated with control methods. Motivated by this research problem, in this paper, we investigate the performance of energy based control of underactuated soft limbed systems. We augment the previously reported energy shaping function for...
While the field of continuum manipulators has been the subject of increasing attention from the robotics community, knowledge of their inherent capabilities is still limited. Controllers have been proposed that exploit the null-space of redundant continuum manipulators, however studies of the nature of continuum robot null-spaces have not yet been done. In this paper, we first develop a convenient...
In this paper, we consider the modeling of robotic continuous “continuum” two-dimensional surfaces. We discuss the fundamental differences between such robot surfaces and traditional rigid link and continuum robots. We then introduce new kinematic models for continuum robotic surfaces. We compare the kinematic models to physical continuum surfaces and validate their performance.
In this paper, we present a new approach towards the control of continuous backbone (continuum) “trunk and tentacle” robots. Development of model-based control algorithms for this new and emerging class of robots has been relatively slow due to the inherent complexity of their mathematical models. Based on the recently developed kinematics, velocity Jacobian and full dynamic model, a simple nonlinear...
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